JPS6056836A - Table device - Google Patents
Table deviceInfo
- Publication number
- JPS6056836A JPS6056836A JP16407183A JP16407183A JPS6056836A JP S6056836 A JPS6056836 A JP S6056836A JP 16407183 A JP16407183 A JP 16407183A JP 16407183 A JP16407183 A JP 16407183A JP S6056836 A JPS6056836 A JP S6056836A
- Authority
- JP
- Japan
- Prior art keywords
- floating
- floating part
- fixed
- original position
- pallet
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/38—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members using fluid bearings or fluid cushion supports
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本うｔ明は、主として段取作業に好適するテーブル装置
に１３′、１する。DETAILED DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention is directed to a table device mainly suitable for setup work.
近時、ＦＭＳ（Ｆｌｅｘｉｂｌｅ Ｍａｎｕｆａｃｔｕ
ｒｉｎｇ Ｓｙｓｔｅｍ ：フレキシブル生産システム
）の普及にともない、各種段取作業も自動化されつつあ
る。たとえば切削加工を行う被加工を行う被加工物をパ
レットにクランプ治具により固定する場合においては、
あらかじめテーブル上に載置されたパレットに、このパ
レットに固定される被加工物に対応したクランプ治具を
嵌着し、しかる後、被加］ニ物をパレット上に載置して
上記クランプ治具を作動させて被加工物をパレットに固
定している。Recently, FMS (Flexible Manufacturer)
With the spread of ring systems (flexible production systems), various setup tasks are also becoming automated. For example, when a workpiece to be machined is fixed to a pallet using a clamp jig,
A clamp jig corresponding to the workpiece to be fixed to the pallet is fitted onto a pallet that has been placed on the table in advance, and then the workpiece is placed on the pallet and the clamp jig is placed on the pallet. The workpiece is fixed to the pallet by operating the tool.
ところで、上記クランプ治具のパレットへの嵌着作業は
、ロボットにより行われつつある。しかし、ロボットに
よる位置決めは、通常、０．０５〜０．１ｎ以上の誤差
を伴ない、加工公差を悪くする。Incidentally, the work of fitting the clamp jig onto the pallet is increasingly being performed by robots. However, positioning by a robot usually involves an error of 0.05 to 0.1n or more, impairing processing tolerances.
そこで、この誤差を解消するために、空気圧で浮上させ
柔軟性を有するテーブルの利用が考えられる。しかるに
、従来、このようなテーブルは、アリ溝、Ｔ清等のわず
かなりリアランスを有する拘束部により拘束された状態
で使用される結果、浮上部が固定部に対して外力により
鹿位しても、外力がなくなった後に原位置に復帰させる
ことができないので、上記のようなロボットの位置決め
誤差を吸収するような使用は不可能であった。Therefore, in order to eliminate this error, it is possible to use a flexible table that is floated by air pressure. However, conventionally, such a table is used while being restrained by a restraining part such as a dovetail groove or a T-shape, which has a slight clearance. Since the robot cannot be returned to its original position after the external force is removed, it has been impossible to use the robot to absorb positioning errors as described above.
本発明は、上記事情を勘案してなされたもので、［ｉｌ
、Ｊ足部に対して物体が載置嘔れる浮上部が一時的に変
位しても外力がなくなった後は直ちに原位置に復帰する
ことのできるデープル装置を提供することを目的とする
。The present invention has been made in consideration of the above circumstances.
An object of the present invention is to provide a dople device which can immediately return to its original position after the external force is removed even if a floating part on which an object is placed relative to the J leg is temporarily displaced.
１定部上妬に空気層を形成させて、この固定部上面に沿
って滑動自在に板状の浮」二部を浮上させ〔発明の笑方
４例〕
以下、不発リコの一実ハ（例を図面を参照して詳述する
。1. An air layer is formed above the fixed part, and a plate-shaped float is floated along the upper surface of the fixed part so as to be able to slide freely (4 examples of how the invention works). Examples will be explained in detail with reference to the drawings.
第１図及び第２図は、本実施例のデープル装置を示して
いる。このテーブル装置は、上面が正方形をなす台状の
固定部（１）と、この固従部（１）上に設けられた主面
が正方形をなす板状の浮上部（２）と、この浮上部（２
）の４つの側面を拘持する拘束部（３）・・・とからな
っている。上記固定部（１）内部には、図示せぬ圧縮空
気源から圧縮空気を導入する空気圧管路が配設されてい
て、この空気圧管路に接続された複数のノズル（図示せ
ず）が固定部（１）の−に面に開口している。そして、
上記ノズルから噴出された圧縮空気の空気圧により、浮
上部（２）を固定部（１）の上面から例えば数十μｍ浮
上させる。浮上部（２）の底面は、浮上時においては固
定部（１）Ｋ対して非接触状態にあるので、動摩擦係数
は０．００１以下となり、極めて小さな外力で固定部（
１）上面に治って移動可能である。一方、浮上部（２）
の上面は、物体をＱ置して各種作業を行うことができる
ようになっている。また、拘束部（３）・・・は、９０
度間隔で等配して設けられている点を除いて、すべて構
造的に同一のものであるので、１個の拘束部（３）につ
いて説明すると、この拘束部（３）は、基台（４）と、
この基台（４）上に立設された支持体（５）と、この支
持体（５）に支持てれた押圧機構（６）とからなってい
る１、この抑圧機構（６）は、支持体（５）に軸線方向
が浮上部（２）の側面に直交するように穿設された貫通
孔（７）の浮上部（２）側端壁に軸方向に摺動自在に挿
設された円柱状の押圧＃５ （８）と、貫通孔（力の押
圧賄〒（８）に対して反対側の端部に螺設された調整ね
じ（９）と、調整ねじ（９）と抑圧４Ｔ（８）との間に
介押された貫通孔（７）内部の圧縮ばねσ０とからなっ
ている。、Ｊ：記押ＦＰ、＃意８）の浮上部（２）の側
面に当接する先端部は半球状に形成されている。また、
抑圧針（８）の軸方向中途部には、この押圧ネ、〒（８
）の後退量を規制するための鍔αυが形成されている。1 and 2 show the daple device of this embodiment. This table device includes a platform-shaped fixed part (1) with a square upper surface, a plate-shaped floating part (2) with a square main surface provided on this fixed part (1), and this floating part (1). Part (2
) and a restraining part (3) that restrains the four sides of the body. A pneumatic pipe line that introduces compressed air from a compressed air source (not shown) is installed inside the fixed part (1), and a plurality of nozzles (not shown) connected to this pneumatic pipe line are fixed. It is open on the - side of part (1). and,
The floating part (2) is made to float, for example, by several tens of micrometers from the upper surface of the fixed part (1) by the air pressure of the compressed air ejected from the nozzle. Since the bottom surface of the floating part (2) is in a non-contact state with the fixed part (1) K during levitation, the coefficient of dynamic friction is less than 0.001, and the fixed part (
1) It can be moved on the upper surface. On the other hand, floating part (2)
The top surface is designed to allow you to place objects and perform various tasks. In addition, the restraint part (3)... is 90
They are all structurally the same except for the fact that they are equally spaced at intervals of 30 degrees, so to explain one restraint part (3), this restraint part (3) is a base ( 4) and
This suppression mechanism (6) consists of a support (5) erected on this base (4) and a pressing mechanism (6) supported by this support (5). The support member (5) is slidably inserted in the side end wall of the floating part (2) of a through hole (7) bored in the support body (5) so that the axial direction is perpendicular to the side surface of the floating part (2). A cylindrical pressure force #5 (8), an adjustment screw (9) threaded on the end opposite to the force pressure force plate (8), an adjustment screw (9) and a suppression 4T (8) and a compression spring σ0 inside the through hole (7)., J: Pressing FP, #I8) abuts against the side surface of the floating part (2). The tip part is formed into a hemispherical shape. Also,
This pressing needle (8) is located halfway in the axial direction of the pressing needle (8).
) is formed with a tsuba αυ for regulating the amount of retraction.
さらに、押圧、ｊ＋＜ａ）の圧縮ばね（１０）側端部に
は、この押圧＄１ （８）より小径の突出’ｔｒｃｔｚ
が同軸に突設されて、圧縮ばね（１０）の内部を遊挿す
るようになっている。また、上記調整ねじ（９）は螺動
により軸方向の位置を変化させて、圧縮ばね（１０）の
抑圧針（８）に対する弾性的付勢力を調整できるように
なっている。かくて、拘束部（３）・・・は、固定部（
１）直上にて浮上している浮上部（２）を４方から弾性
的に押圧し、浮上部（２）は、外力が加わっていない状
態では平衡位置に静止するようになっている。Further, at the end of the compression spring (10) of the press force j+<a), there is a protrusion 'trctz with a smaller diameter than this press force $1 (8).
are coaxially protrudingly provided so as to be loosely inserted into the inside of the compression spring (10). Further, the adjustment screw (9) is adapted to change its axial position by threading, thereby adjusting the elastic biasing force of the compression spring (10) against the suppression needle (8). Thus, the restraint part (3)... is the fixed part (
1) The floating part (2) floating directly above is pressed elastically from four sides, and the floating part (2) comes to rest at an equilibrium position when no external force is applied.
つぎに、本実施例のテーブル装置の作動について述べる
。まず、固定部（１）のノズルから圧縮空気を噴出させ
て、固定部（１）上面と浮上部（２）底面との間に空気
層を形成して、浮上部（２）を浮上さぜる。Next, the operation of the table device of this embodiment will be described. First, compressed air is ejected from the nozzle of the fixed part (1) to form an air layer between the top surface of the fixed part (1) and the bottom surface of the floating part (2), thereby floating the floating part (2). Ru.
Ｌφゝ・Ｌ゛了３１．浮上部（２）上に被加工物が所定
位置に固定されるパレットを載置する。このパレットに
は被加工物を固定するクランプ治具が嵌着される嵌合孔
が穿設されている。ついで、クランプ治具をロボットハ
ンドにより把持して嵌合孔に嵌合させる。このとき、ロ
ボットハンドによるクランプ冶具の位置決めに誤差があ
っても、クランプ治具の嵌合軸と嵌合孔とが同軸となる
ように浮上部（２）が滑動し、上記位置決め誤差は吸収
される。この場合の滑動態様は、浮上部（２）は、４方
から弾性的に押圧されているのみであるので、平面運動
、回転運動又はこれらの組合せ等、大きな自由度で移動
可能でおる。かくて、クランプ治具のパレットへの嵌着
作業が完了すると、浮上部（２ンは拘束部（３）・の付
勢力により原位置すなわち前記乎衡位１凸、に復帰する
。つまり、浮上部（２）が、ある抑圧（ｒシ構（６）の
圧縮ばね（１０）を圧縮する方向に移動したとすり、ば
、外力除去後は、圧縮ばね００）の圧縮力により浮上部
（２）は元の位置に戻る。このように本人施例のテーブ
ル装置は、固定部（１）上にて浮上している浮上部（２
）を原位誼復帰自在に拘束部（３）・・・により拘持し
ているので、浮上部（２）の変位量及び自由度を大ぎく
とることができる。したがってｓＶｆ＋’ｃとしての柔
軟性が増し、これに対応して浮上部（２）にて行うこと
ができる作業内容も拡充させることができる。Lφゝ・L゛了31. A pallet on which the workpiece is fixed at a predetermined position is placed on the floating part (2). This pallet has fitting holes into which clamp jigs for fixing workpieces are fitted. Next, the clamp jig is gripped by a robot hand and fitted into the fitting hole. At this time, even if there is an error in the positioning of the clamp jig by the robot hand, the floating part (2) slides so that the fitting axis of the clamp jig and the fitting hole are coaxial, and the positioning error is absorbed. Ru. In this case, since the floating part (2) is only elastically pressed from four sides, it can move with a large degree of freedom, such as plane movement, rotational movement, or a combination thereof. In this way, when the work of fitting the clamp jig onto the pallet is completed, the floating part (2) returns to its original position, that is, the above-mentioned equilibrium position 1 convex, by the urging force of the restraining part (3). Suppose that the part (2) moves in the direction of compressing the compression spring (10) of a certain suppression (r structure (6)), then after the external force is removed, the floating part (2) is moved by the compression force of the compression spring 00. ) returns to its original position.In this way, the table device of the patient's example has the floating part (2) floating above the fixed part (1).
) is restrained by the restraining parts (3) so as to be able to return to the original position, so the amount of displacement and degree of freedom of the floating part (2) can be maximized. Therefore, the flexibility of sVf+'c is increased, and the contents of work that can be performed in the floating section (2) can be correspondingly expanded.
なお、上記実施例においては拘束部は、４個等配して設
けられているが、２個以上であれば任意数膜ｉｉｉ：
してもよい。また、とくに等配して設置しなくともよい
。さらに、浮上部（２）は正方形板状でなく、円形板状
であってよい。さらに、圧縮ばね（１０）の代りに、空
気、油等を用いた流体式ダンパを用いてもよい。さらに
また、支持体（５）の頁通孔（７）にノズルを取付け、
このノズルより噴射でれた圧縮空気の空気圧により浮上
部（２）の側面を拘持するようにしてもよい。この場合
浮上部（２）が外力により滑動し、でも、各ノズルと浮
上部（２）側面との間隔が常に所定月・になるように浮
上部（２）が復元するので、前記実施例と同様の効果を
奏する。In the above embodiment, four restraining parts are provided equally spaced, but any number of restraining parts may be used as long as there are two or more.
You may. Further, it is not necessary to install them in a particularly even manner. Furthermore, the floating portion (2) may have a circular plate shape instead of a square plate shape. Furthermore, instead of the compression spring (10), a fluid damper using air, oil, etc. may be used. Furthermore, a nozzle is attached to the page through hole (7) of the support (5),
The side surface of the floating part (2) may be held by the air pressure of the compressed air injected from this nozzle. In this case, the floating part (2) slides due to external force, but the floating part (2) returns to its original state so that the distance between each nozzle and the side surface of the floating part (2) is always a predetermined distance. It has a similar effect.
本発明は、固定部上に空気圧により浮上し−〔いる浮上
部を外力が浮上部に作用しないときの位置に復帰自在に
複数の拘束部により拘持するようにしだので、浮上部の
固定部上面に沿った変位量及び自由度を大きくとること
ができる。したがって、装置としての柔軟性が増し、浮
上部にて行うことができる作業内容も拡充し、ロボット
応用周辺機器として極めて適合した装置を得るととがで
きる。In the present invention, the floating part which is floating on the fixed part by air pressure is restrained by the plurality of restraining parts so as to be able to return to the position when no external force acts on the floating part. The amount of displacement and degree of freedom along the upper surface can be increased. Therefore, the flexibility of the device is increased, the content of work that can be performed in the floating section is expanded, and a device that is extremely suitable as a peripheral device for robot applications can be obtained.
第１図は本発明の一実施例のテーブル装はの正面図、第
２図は同じく平面図、第３図は拘束部を拡大して示す要
部断固である。
（１）：固定部
（２）：浮上部
（３）：拘東部FIG. 1 is a front view of a table cover according to an embodiment of the present invention, FIG. 2 is a plan view of the same, and FIG. 3 is an enlarged view of the main parts of the restraining portion. (1): Fixed part (2): Floating part (3): Restraint part
Claims (1)
固定部と、上記ノズルより噴射された正編空気により上
記固定部の上面に非接触で保持はれる板状の浮上部と、
上記固定部に非接触保持されている上記浮上部の側面を
外力が上記浮上部に作用しないときの位置に復帰自在に
拘持する複数の拘束部とイ）：具１６１］することを特
徴とするテーブル装置＾。a fixed part having a nozzle opening on the upper surface for injecting compressed air; a plate-shaped floating part held on the upper surface of the fixed part in a non-contact manner by the regular air injected from the nozzle;
and a) a plurality of restraint parts that restrain the side surface of the floating part that is held in a non-contact manner by the fixing part so as to be able to return to the position when no external force acts on the floating part; A table device to do that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16407183A JPS6056836A (en) | 1983-09-08 | 1983-09-08 | Table device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP16407183A JPS6056836A (en) | 1983-09-08 | 1983-09-08 | Table device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6056836A true JPS6056836A (en) | 1985-04-02 |
| JPS6246294B2 JPS6246294B2 (en) | 1987-10-01 |
Family
ID=15786226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP16407183A Granted JPS6056836A (en) | 1983-09-08 | 1983-09-08 | Table device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6056836A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6228143A (en) * | 1985-07-30 | 1987-02-06 | Dainippon Screen Mfg Co Ltd | Locating method for sheet |
| CN116967796A (en) * | 2023-09-22 | 2023-10-31 | 无锡星微科技有限公司杭州分公司 | Mobile assembly of air floatation linear platform |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4901992B1 (en) | 2010-12-22 | 2012-03-21 | 三和パッキング工業株式会社 | Shock absorber and metal cover |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58109238A (en) * | 1981-12-21 | 1983-06-29 | Mitsutoyo Mfg Co Ltd | Positioning table device |
-
1983
- 1983-09-08 JP JP16407183A patent/JPS6056836A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58109238A (en) * | 1981-12-21 | 1983-06-29 | Mitsutoyo Mfg Co Ltd | Positioning table device |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6228143A (en) * | 1985-07-30 | 1987-02-06 | Dainippon Screen Mfg Co Ltd | Locating method for sheet |
| JPH0253179B2 (en) * | 1985-07-30 | 1990-11-15 | Dainippon Screen Mfg | |
| CN116967796A (en) * | 2023-09-22 | 2023-10-31 | 无锡星微科技有限公司杭州分公司 | Mobile assembly of air floatation linear platform |
| CN116967796B (en) * | 2023-09-22 | 2023-12-29 | 无锡星微科技有限公司杭州分公司 | Mobile assembly of air floatation linear platform |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS6246294B2 (en) | 1987-10-01 |
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